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Moved camera to hardsup and started adding parameters.

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This commit is contained in:
Ferdi Franceschini
2013-02-18 11:21:04 +11:00
parent 5ae5a826a4
commit ed9a2aff16
8 changed files with 1093 additions and 14 deletions
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4
site_ansto/Makefile
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@@ -167,9 +167,7 @@ OBJ= site_ansto.o anstoutil.o\
hmcontrol_ansto.o\
lssmonitor.o \
beamstopaction.o action.o \
tclClock.o tclDate.o tclUnixTime.o \
camera.o\
cameradriver.o
tclClock.o tclDate.o tclUnixTime.o
all: ../matrix/libmatrix.a $(COREOBJ:%=../%) $(EXTRA:%=../%) libansto.a libhardsup
$(CC) -g -o SICServer $(COREOBJ:%=../%) $(EXTRA:%=../%) $(SUBLIBS) $(PSI_SLIBS:%=../%) $(PSI_LIBS) $(GHTTP_LIBS)

5
site_ansto/TESTS/dingo_camera/Makefile
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@@ -1,5 +1,8 @@
# vim: ft=make: ts=8: sw=8: noet: cindent:
all: camera_test.c ../../camera.c ../../camera.h
all: camera_test.c ../../hardsup/camera.c ../../hardsup/camera.h
gcc -g -Wall -Wextra -std=c99 -pedantic -I../../ -o camera_test camera_test.c ../../camera.c
clean:
rm camera_test

51
site_ansto/TESTS/dingo_camera/camera_test.c
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@@ -22,7 +22,7 @@ void print_event(event_t E) {
printf("%s,%s,%s,%s", ca, cm, cd, dr);
}
event_t output(state_t Sc, int Ei) {
event_t output(state_t Sc, enum event_codes Ei) {
int i;
trans_t tr;
event_t Eo;
@@ -36,7 +36,8 @@ event_t output(state_t Sc, int Ei) {
}
int test_camrep2sym(void) {
int i, ca_sym, cm_sym, time_rem, time_tot;
int i, cm_sym, time_rem, time_tot;
enum event_codes ca_sym;
char *camrep[] = {
"StartTime Remaining= 3907 ms, Total Time=3686 ms,",
"Open ShutrTime Remaining= 539454 ms, Total Time=3686 ms,",
@@ -88,7 +89,9 @@ int test_trans_fn(void) {
return 1;
}
int camdriv_out(event_t Eo) {
int camdriv_out(void *me, event_t Eo) {
int *self = me;
*self=0; /* shudduppa your warnings */
if (Eo.ca) {
/* send command to camera */
printf("camdriv_out: ev=%s, output=%s\n", event_names[Eo.ca], event_signatures[Eo.ca]);
@@ -107,6 +110,7 @@ int camdriv_out(event_t Eo) {
}
int test_camdriv_input(void) {
int Ein=ECD_TK_SHOT;
int self;
camdriv_t cdinfo = {
.Sc = {.cl=SCL_RDY, .cm=SCM_IDLE, .dr=SDR_IDLE},
.Eo = {.ca=0},
@@ -114,16 +118,45 @@ int test_camdriv_input(void) {
.output_fn = camdriv_out,
};
camdriv_input(&cdinfo, Ein);
camdriv_input(&self, &cdinfo, Ein);
return 1;
}
int main() {
int ret;
char *tests[] = {"camrep2sym", "trans_fn", "camdriv_input"};
void usage(char *name) {
int i;
printf("Usage: %s [n]\n",name);
printf("default: run all tests\n");
printf("n is an int whose bits indicate which tests will be executed as follows\n");
for (i=0; i<3; i++)
printf("n=%d; %s\n",1 << i, tests[i]);
printf("\n");
}
ret = test_camrep2sym();
ret = test_trans_fn();
ret = test_camdriv_input();
int main(int argc, char *argv[]) {
int ret, test=0, tflag=7;
if (argc == 1)
test = tflag;
else if (strstr(argv[1], "help")) {
usage(argv[0]);
return 0;
} else
test = atoi(argv[1]);
if ((test < 1) || (test > tflag)) {
printf("ERROR: Argument must be a positive integer between 1 and %d inclusive\n", tflag);
usage(argv[0]);
return 1;
}
if (test & 1)
ret = test_camrep2sym();
if (test & 2)
ret = test_trans_fn();
if (test & 4)
ret = test_camdriv_input();
if (ret)
return 0;

197
site_ansto/hardsup/camera.c Normal file
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@@ -0,0 +1,197 @@
#include <stdio.h>
#include <string.h>
#include "camera.h"
#define TR(a,b) #a,
#define TE(a,b) #a
char *event_names[] = { "0", CAMERA_CMDS_TABLE, CAMERA_MSGS_TABLE, CAM_MOD_EVENT_TABLE, DRIVER_EVENT_TABLE, CMD_EVENT_TABLE };
#undef TR
#undef TE
/* The signature array defines the identifying characters at the start of a reply. */
#define TR(a,b) b,
#define TE(a,b) b
char *event_signatures[] = { "0", CAMERA_CMDS_TABLE, CAMERA_MSGS_TABLE, CAM_MOD_EVENT_TABLE, DRIVER_EVENT_TABLE, CMD_EVENT_TABLE };
#undef TR
#undef TE
#define TR(a,b) #a,
#define TE(a,b) #a
char *SCL_NAMES[] = {"0", COMMAND_LATCH_STATE_TABLE};
char *SCM_NAMES[] = {"0", CAMERA_MODEL_STATE_TABLE};
char *SDR_NAMES[] = {"0", DRIVER_STATE_TABLE};
#undef TR
#undef TE
#define TR(a,b) b,
#define TE(a,b) b
char *COMMAND_LATCH_STATE_DESCRIPTION[] = {"0", COMMAND_LATCH_STATE_TABLE};
char *CAMERA_MODEL_STATE_DESCRIPTION[] = {"0", CAMERA_MODEL_STATE_TABLE};
char *DRIVER_STATE_DESCRIPTION[] = {"0", DRIVER_STATE_TABLE};
#undef TR
#undef TE
char state_str[SSLEN+1];
char event_str[ESLEN+1];
/* Clear event channel */
void EVclr(event_t *E) {
E->ca=0;
E->cm=0;
E->cd=0;
E->dr=0;
}
/* Set event channel */
void EVset(event_t *E, event_t Ev) {
if (Ev.ca) E->ca = Ev.ca;
if (Ev.cm) E->cm = Ev.cm;
if (Ev.cd) E->cd = Ev.cd;
if (Ev.dr) E->dr = Ev.dr;
}
/* Set system state */
void STset(state_t *Sc, state_t St) {
if (St.cl)
Sc->cl = St.cl;
if (St.cm)
Sc->cm = St.cm;
if (St.dr)
Sc->dr = St.dr;
}
enum event_codes camera_model(enum event_codes event) {
switch (event) {
case ECA_START:
case ECA_OPEN_SHUTR:
case ECA_ACQ_IMAGE:
return ECM_ACQ;
case ECA_CLOSE_SHUTR:
case ECA_READ_IMAGE:
case ECA_SEND_IMAGE:
return ECM_PROC;
case ECA_STOP:
return ECM_STOP;
case ECA_IDLE:
return ECM_IDLE;
case ECA_FAIL:
return ECM_FAIL;
default:
return ECM_UNKNOWN;
}
}
/* NOTE the state is actually of the form (SCL_X,SCM_X,SDR_X)
* the table only shows the part of the state tuple which must match.
*/
int cam_parse_status(char *msg, enum event_codes *ca_sym, int *time_rem, int *time_tot) {
char *delim=" ,";
char str[100], *tok;
int ret = 1;
strcpy(str,msg);
tok=strtok(str,delim);
ret = cam_rep2sym(tok);
if (ret != -1) {
*ca_sym = ret;
if (ECA_IDLE == *ca_sym) {
*time_rem = *time_tot = -1;
} else {
tok=strstr(msg, "Remaining");
sscanf(tok, " Remaining= %d ms, Total Time= %d ms, ", time_rem, time_tot);
}
}
return ret;
}
/* return -1 if message is unknown
* NOTE: 0 has meaning in the transition table
*/
enum event_codes cam_rep2sym(char *msg) {
int i;
for (i = ECA_START; i <= ECA_STOP; i++) {
if (0 == strcmp(msg, event_signatures[i])) {
return i;
}
}
return -1;
}
/* return 0 = no transition,
* return 1 = transition
*/
int cam_trans_fn(state_t Sc, enum event_codes Ein, state_t *Sn, event_t *Eo) {
trans_t tt;
int i, ret=0;
STset(Sn, Sc);
EVclr(Eo);
for (i=0; tt=TRANS_TABLE[i], tt.Sc.dr != END_TABLE; i++) {
if ( Ein == tt.Ei && INSYS(Sc,tt.Sc)) {
STset(Sn, tt.Sn);
EVset(Eo, tt.Eo);
ret = 1;
}
}
return ret;
}
void camdriv_input(void *caller, camdriv_t *self, enum event_codes event_sym) {
state_t Sn;
cam_trans_fn(self->Sc, event_sym, &Sn, &self->Eo);
self->output_fn(caller, self->Eo);
self->Sc = Sn;
}
char *strstate(state_t s) {
char *cl, *cm, *dr;
cm = SCM_NAMES[s.cm];
cl = SCL_NAMES[s.cl];
dr = SDR_NAMES[s.dr];
snprintf(state_str, SSLEN, "%s,%s,%s", cm, cl, dr);
return state_str;
}
char *strevent(event_t E) {
char *ca, *cm, *cd, *dr;
ca = event_names[E.ca];
cm = event_names[E.cm];
cd = event_names[E.cd];
dr = event_names[E.dr];
snprintf(event_str, ESLEN, "%s,%s,%s,%s", ca, cm, cd, dr);
return event_str;
}
/* 0 = wildcard for states.
* 0 = no output for the output events.
*/
int START_STATE = SCL_RDY|SCM_IDLE|SDR_IDLE;
trans_t TRANS_TABLE[] = {
{{.cl=SCL_RDY, .dr=SDR_IDLE}, ECD_TK_SHOT,{.dr=0}, {.cl=SCL_TK_SHOT}},
{{.cl=SCL_RDY, .dr=SDR_IDLE}, ECD_TK_MLTI,{.dr=0}, {.cl=SCL_TK_MLTI}},
{{.cl=SCL_TK_SHOT}, ECM_IDLE, {.ca=ECA_TK_SHOT}, {.cl=SCL_WT_ACQ}},
{{.cl=SCL_TK_MLTI}, ECM_IDLE, {.ca=ECA_MLTI_ON}, {.cl=SCL_WT_ACQ}},
{{.cl=SCL_TK_SHOT}, ECD_CLEAR, {.dr=0}, {.cl=SCL_RDY}},
{{.cl=SCL_TK_MLTI}, ECD_CLEAR, {.dr=0}, {.cl=SCL_RDY}},
{{.cl=SCL_WT_ACQ}, ECM_ACQ, {.dr=0}, {.cl=SCL_RDY}},
{{.cl=SCL_WT_ACQ}, ECM_PROC, {.dr=0}, {.cl=SCL_RDY}},
{{.cl=SCL_WT_ACQ}, ECM_STOP, {.dr=0}, {.cl=SCL_RDY}},
/* ffr: Uncomment when we're sure that we don't receive "Idle" after "take shot"
* {{.cl=SCL_WT_ACQ}, ECM_IDLE, {.dr=0}, {.cl=SCL_RDY}},*/
{{.cm=SCM_IDLE}, ECM_ACQ, {.dr=0}, {.cm=SCM_ACQ}},
{{.cm=SCM_IDLE}, ECM_PROC, {.dr=0}, {.cm=SCM_PROC}},
{{.cm=SCM_ACQ}, ECM_PROC, {.dr=0}, {.cm=SCM_PROC}},
{{.cm=SCM_ACQ}, ECM_STOP, {.dr=0}, {.cm=SCM_IDLE}},
{{.cm=SCM_PROC}, ECM_STOP, {.dr=0}, {.cm=SCM_IDLE}},
{{.cm=SCM_ACQ}, ECM_IDLE, {.dr=0}, {.cm=SCM_IDLE}},
{{.cm=SCM_PROC}, ECM_IDLE, {.dr=0}, {.cm=SCM_IDLE}},
{{.dr=SDR_IDLE}, ECD_TK_SHOT,{.dr=EDR_BUSY}, {.dr=SDR_BUSY}},
{{.dr=SDR_IDLE}, ECD_TK_MLTI,{.dr=EDR_BUSY}, {.dr=SDR_BUSY}},
{{.dr=SDR_BUSY, .cl=SCL_RDY}, ECM_PROC, {.dr=EDR_IDLE}, {.dr=SDR_IDLE}},
{{.dr=SDR_BUSY, .cl=SCL_RDY}, ECM_STOP, {.dr=EDR_IDLE}, {.dr=SDR_IDLE}},
{{.dr=SDR_BUSY, .cl=SCL_RDY}, ECM_IDLE, {.dr=EDR_IDLE}, {.dr=SDR_IDLE}},
{{.dr=END_TABLE}, END_TABLE, {.dr=END_TABLE}, {.dr=END_TABLE}}
};

213
site_ansto/hardsup/camera.h Normal file
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@@ -0,0 +1,213 @@
/* Deterministic Finite State machine transducer (Mealy)
* The system is made up of three commponents, a command latch (CL), a camera
* model (CM) and the driver (DR). The system state machine is considered to be
* made up of the component state machines running in parallel and with some of
* the component stae machine transitions being restricted by system state
* transition rules.
* The sets of states are,
* SCL:Command Latch states, SCM:Camera Model states, SCDR:Driver states.
* Q is the set of system states.
* The sets of event symbols are defined as,
* ECA:Camera events, ECM:Camera model events, ECD:User command events,
* EDR:Driver events.
*
* In the following, '<' means subset
* Q < SCL X SCM X SCDR
* Ein = ECA U ECM U ECD U EDR
* Eo < ECA X ECM X ECD X EDR
* trans fn: QXEin -> Q
* out fn : QXEin -> Eo
*
* In the implementation the transition and output functions are combined in
* TRANS_TABLE.
*/
#ifndef CAMERA_H
#define CAMERA_H
/* TODO
* int output(state, event) return output event code
* int transition(state,event) return next state
*
*/
/* END_TABLE marks the last row in the transition table */
#define END_TABLE -1
/* EVENT CODES */
/* All event enum constants start with 'EXX_', XX identifies the source
* ECA_ : Camera event stream. Messages destined for or received from the camera.
* ECM_ : Events from the camera model.
* ECD_ : Command input, either directly from a user or via the scan command
* EDR_ : Driver events
*/
#define CAMERA_CMDS_TABLE \
TR(ECA_TK_SHOT, "take shot") \
TR(ECA_MLTI_ON, "take multi on") \
TR(ECA_MLTI_OFF, "take multi off") \
TR(ECA_GET_STATUS, "get status") \
TE(ECA_GET_STATE, "get state")
#define CAMERA_MSGS_TABLE \
TR(ECA_START, "StartTime") \
TR(ECA_OK, "OK") \
TR(ECA_FAIL, "Fail") \
TR(ECA_IDLE, "Idle") \
TR(ECA_OPEN_SHUTR, "Open") \
TR(ECA_CLOSE_SHUTR, "Close") \
TR(ECA_ACQ_IMAGE, "Acq") \
TR(ECA_READ_IMAGE, "Read") \
TR(ECA_SEND_IMAGE, "Send") \
TE(ECA_STOP, "Stop")
#define CAM_MOD_EVENT_TABLE \
TR(ECM_UNKNOWN, "Stop message received from camera") \
TR(ECM_STOP, "Stop message received from camera") \
TR(ECM_IDLE, "Camera in idle state") \
TR(ECM_FAIL, "Command rejected") \
TR(ECM_ACQ, "catch-all for start of acq phase") \
TE(ECM_PROC, "catch-all for end of acq phase")
/* COMMAND EVENTS
* These are events triggered by user input.
* The events can be direct via the 'send' subcommand or
* indirect via the scan command through the counter interface.
*/
#define CMD_EVENT_TABLE \
TR(ECD_CMD_INPUT, "received a command") \
TR(ECD_CLEAR, "Clear latched command") \
TR(ECD_TK_SHOT, "take shot") \
TR(ECD_TK_MLTI, "take multi on") \
TR(ECD_GET_STATE, "get state") \
TE(ECD_GET_STATUS, "get status")
/* DRIVER EVENT TABLE
*/
#define DRIVER_EVENT_TABLE \
TR(EDR_IDLE, "HWIDLE") \
TR(EDR_BUSY, "HWBUSY") \
TE(EDR_FAULT, "HWFAULT")
#define ESLEN 32
/* STATE CODES
* NOTE: Every state will respond to a timer event and
* SXX_ State code enum constants, XX identifies a component of the system.
* SCL_ Command latch states
* SCM_ Camera model states
* SDR_ Driver states
*/
#define COMMAND_LATCH_STATE_TABLE \
TR(SCL_RDY, "command latch ready to accept") \
TR(SCL_TK_SHOT, "latched a take shot command") \
TR(SCL_TK_MLTI, "latched a multi-shot command") \
TE(SCL_WT_ACQ, "waiting for camera to start acquisition")
#define CAMERA_MODEL_STATE_TABLE \
TR(SCM_IDLE, "Camera is idle") \
TR(SCM_ACQ, "Camera is acquiring an image") \
TE(SCM_PROC, "Camera is processing an image")
#define DRIVER_STATE_TABLE \
TR(SDR_IDLE, "HWIdle") \
TR(SDR_BUSY, "HWBusy") \
TE(SDR_FAULT, "HWFault")
#define SSLEN 32
/* Generate event and state symbols */
#define TR(a,b) a,
#define TE(a,b) a
enum event_codes {ECA_UNKNOWN, CAMERA_CMDS_TABLE, CAMERA_MSGS_TABLE, CAM_MOD_EVENT_TABLE, DRIVER_EVENT_TABLE, CMD_EVENT_TABLE};
#undef TR
#undef TE
#define TR(n,d) n,
#define TE(n,d) n
enum command_latch_states {CL_Z,COMMAND_LATCH_STATE_TABLE};
enum camera_model_states {CM_Z,CAMERA_MODEL_STATE_TABLE};
enum driver_states {DR_Z,DRIVER_STATE_TABLE};
#undef TR
#undef TE
extern char *SCL_NAMES[];
extern char *SCM_NAMES[];
extern char *SDR_NAMES[];
/* List of names generated from the event_codes. Defined in camera.c. */
extern char *event_names[];
/* The signature array defines the identifying characters at the start of a reply. */
extern char *event_signatures[];
/* Output event channel
* A tuple (Eca,Ecm,Ecd,Edr) in ECA X ECM X ECD X EDR
*/
typedef struct {
enum event_codes ca;
enum event_codes cm;
enum event_codes cd;
enum event_codes dr;
} event_t;
/* A tuple (Scl,Scm,Sdr) in SCL X SCM X SDR */
typedef struct {
int cl;
int cm;
int dr;
} state_t;
typedef struct {
state_t Sc;
enum event_codes Ei;
event_t Eo;
state_t Sn;
} trans_t;
typedef struct {
state_t Sc;
event_t Eo;
int multi;
int (*output_fn)(void *caller, event_t Eo);
} camdriv_t;
/* True if system state Sc is in St.
* St is normally the current state in the transition table
* and describes a range of possible states.
*/
#define INCL(Sc,St) (!St.cl || Sc.cl==St.cl)
#define INCM(Sc,St) (!St.cm || Sc.cm==St.cm)
#define INDR(Sc,St) (!St.dr || Sc.dr==St.dr)
#define INSYS(Sc,St) ( INCL(Sc,St) && INCM(Sc,St) && INDR(Sc,St) )
void EVclr(event_t *E);
void EVset(event_t *E, event_t Ev);
void STset(state_t *Sc, state_t St);
/* \brief Translates a camera status message to a camera (ECA_) event */
enum event_codes cam_rep2sym(char *msg);
/* \brief Converts a camera (ECA_) event to a camera modle (ECM_) event */
enum event_codes camera_model(enum event_codes event);
/* \brief Determines camera state from camera status message and reads acquisition
* time if camera is running.
* \param msg camera status message from the "get status" command.
* \param ca_sym symbol for the camera state in the status message, one of ECA_ enums.
* \param time_rem time remaining during while the camera is running.
* \param time_tot total time while the camera is running.
*/
int cam_parse_status(char *msg, enum event_codes *ca_sym, int *time_rem, int *time_tot);
/* \brief Transition function for the camera system state machine.
* \param Sc the current system state.
* \param Ein input event.
* \param Sn the next system state.
* \param Eo the output events.
*/
int cam_trans_fn(state_t Sc, enum event_codes Ein, state_t *Sn, event_t *Eo);
void camdriv_input(void *caller, camdriv_t *self, enum event_codes event_sym);
char *strstate(state_t s);
char *strevent(event_t E);
extern trans_t TRANS_TABLE[];
#endif

630
site_ansto/hardsup/cameradriver.c Normal file
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@@ -0,0 +1,630 @@
/* MGS_ :Message from camera Get Status command
*/
#include <sics.h>
#include <obdes.h>
#include <countdriv.h>
#include <nwatch.h>
#include <asyncqueue.h>
#include "camera.h"
#define ERRLEN 256
#define MSGLEN 256
enum camstates {idle, acquiring, processing, saving};
#define CAMDRIV_ERRTABLE \
TR(ENONE, "OK") \
TR(EFAIL, "command failed") \
TR(EBUSYACQ, "camera busy acquiring image") \
TR(EBUSYSAVE, "camera busy saving image") \
TE(EBUSYPROC, "camera busy processing image")
#define TR(a,b) a,
#define TE(a,b) a
enum errcodes {CAMDRIV_ERRTABLE};
#undef TR
#undef TE
#define TR(a,b) b,
#define TE(a,b) b
static char *errmsg[] = {CAMDRIV_ERRTABLE};
#undef TR
#undef TE
#define CAMDRIV_PARTABLE \
TR(MULTI, "multi") \
TR(CLOCK, "clock") \
TR(BIN, "bin") \
TR(SIZE, "size") \
TR(GAIN, "gain") \
TR(FLIP, "flip") \
TR(XPOS, "xpos") \
TR(YPOS, "ypos") \
TR(TEMP, "temperature") \
TR(THRESH, "threshold") \
TR(SHOPT, "shutteropentime") \
TE(SHCLT, "shutterclosetime")
#define FLIP_TABLE \
TR(NORMAL, "normal") \
TR(INVINT, "invintensity") \
TR(NORMFH, "normfh") \
TR(NORMFV, "normfv") \
TR(NORMFHV, "normfhv") \
TR(INVFH, "invfh") \
TR(INVFV, "invfv") \
TE(INVFHV, "invfhv")
#define TR(a,b) a,
#define TE(a,b) a
enum campar {CAMDRIV_PARTABLE};
enum flipval {FLIP_TABLE};
#undef TR
#undef TE
#define TR(a,b) b,
#define TE(a,b) b
static char *cacmdstr[] = {CAMDRIV_PARTABLE, NULL};
static char *flipcmdstr[] = {FLIP_TABLE, NULL};
#undef TR
#undef TE
// Camera get/set commands: ['status', 'info', 'state', 'camera', 'meta', 'file']
#define ECMDSTART 0
#define EGETSTART 100
#define ESETSTART 200
typedef struct {
float clockMHz;
float bin;
float size;
float gain;
enum flipval flip;
float xpos;
float ypos;
float temp;
float thresh;
float shopt;
float shclt;
int updatecfg;
} camcfg_t;
typedef struct {
int debug;
camdriv_t state_machine;
pNWTimer state_timer;
int status;
enum errcodes camError;
camcfg_t camera;
/* filecfg_t file;*/
pAsyncUnit asyncUnit;
} CamObj;
/* Camera communications and protocol handlers */
static pAsyncProtocol CAM_Protocol = NULL;
static int CAM_Tx(pAsyncProtocol p, pAsyncTxn txn) {
int ret = 1;
if (txn) {
txn->txn_status = ATX_ACTIVE;
if (AsyncUnitWrite(txn->unit, txn->out_buf, txn->out_len) < 0) {
if (AsyncUnitReconnect(txn->unit) < 0)
ret = 0;
}
ret = 1;
} else {
ret = 0;
}
return ret;
}
int defaultHandleInput(pAsyncProtocol p, pAsyncTxn txn, int ch);
static int CAM_Rx(pAsyncProtocol p, pAsyncTxn txn, int ch) {
int ret = 1;
if (ch == '\r')
ret = 1;
else if (ch == '\n')
ret = AQU_POP_CMD;
else if (txn->inp_idx < txn->inp_len)
txn->inp_buf[txn->inp_idx++] = ch;
else
ret = AQU_POP_CMD;
return ret;
}
/* TODO
static int CAM_Ev(pAsyncProtocol p, pAsyncTxn txn, int event) {
}
*/
void CameraInitProtocol(SicsInterp *pSics) {
if (CAM_Protocol == NULL) {
CAM_Protocol = AsyncProtocolCreate(pSics, "CAMERA", NULL, NULL);
CAM_Protocol->sendCommand = CAM_Tx;
CAM_Protocol->handleInput = CAM_Rx;
CAM_Protocol->prepareTxn = NULL;
CAM_Protocol->killPrivate = NULL;
#if 0
CAM_Protocol->handleEvent = CAM_Ev;
CAM_Protocol->sendTerminator = strdup("\r\n");
CAM_Protocol->replyTerminator[0] = strdup("\r\n");
#endif
}
}
/* CounterDriver interface functions */
static int CamGetStatus(CounterDriver *cntrData, float *fControl) {
CamObj *camdrv= (CamObj *)cntrData->pData;
return camdrv->status;
}
static void crank_state_machine(CamObj *self, enum event_codes ev_sym) {
char sscur[SSLEN+1], ssnext[SSLEN+1], esout[ESLEN+1], message[MSGLEN+1];
if (self->debug)
strncpy(sscur, strstate(self->state_machine.Sc), SSLEN);
camdriv_input(self, &self->state_machine, ev_sym);
if (self->debug) {
strncpy(ssnext, strstate(self->state_machine.Sc), SSLEN);
strncpy(esout, strevent(self->state_machine.Eo), ESLEN);
snprintf(message, MSGLEN,
"DEBUG:(%s:%d) Scurr:%s Ein:%s|Snext:%s Eout:%s",__FILE__,__LINE__,
sscur,event_names[ev_sym],ssnext,esout);
SICSLogWrite(message, eLog);
}
}
int sendcfg(CamObj *self) {
int status, replen=MSGLEN;
char reply[MSGLEN+1];
char *cfgCmd = "set camera,clock=1MHz";
status = AsyncUnitTransact(self->asyncUnit, cfgCmd, strlen(cfgCmd), reply, &replen);
return 1;
}
static int CamStart(CounterDriver *cntrData) {
CamObj *self = NULL;
enum event_codes cd_sym;
self = cntrData->pData;
if (self->camera.updatecfg) {
if (sendcfg(self) == 0) {
/* ERROR failed to update configuration */
return 0;
}
}
if (self->state_machine.multi) {
cd_sym = ECD_TK_MLTI;
} else {
cd_sym = ECD_TK_SHOT;
}
crank_state_machine(self, cd_sym);
return 1;
}
static int CamPause(CounterDriver *cntrData) {
return 1;
}
static int CamContinue(CounterDriver *cntrData) {
return 1;
}
static int CamHalt(CounterDriver *cntrData) {
return 1;
}
static int CamReadValues(CounterDriver *cntrData) {
int status, iReplyLen=MSGLEN;
char *cmd="get imsz", pReply[MSGLEN];
CamObj *self = NULL;
return 1;
self = cntrData->pData;
// fTime = [get shtime]
status = AsyncUnitTransact(self->asyncUnit, cmd, strlen(cmd), pReply, &iReplyLen);
return 1;
}
static int CamGetError(CounterDriver *cntrData, int *iCode, char *error, int iErrLen) {
CamObj *camdrv=NULL;
camdrv = (CamObj *) cntrData->pData;
*iCode = camdrv->camError;
camdrv->camError = ENONE;
switch (*iCode) {
case EBUSYACQ:
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[EBUSYACQ]);
break;
case EBUSYSAVE:
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[EBUSYSAVE]);
break;
case EBUSYPROC:
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[EBUSYPROC]);
break;
case ENONE:
snprintf(error, (size_t) iErrLen, "CAMERR: Can't complete operation, %s", errmsg[ENONE]);
break;
case EFAIL:
snprintf(error, (size_t) iErrLen, "CAMERR: %s", errmsg[EFAIL]);
break;
}
return 1;
}
static int CamTryAndFixIt(CounterDriver *cntrData, int iCode) {
return COTERM;
}
static int CamSet(CounterDriver *cntrData, char *name, int iCter, float fVal) {
CamObj *camdriv= (CamObj *)cntrData->pData;
int found=0;
char *cmd;
enum campar id;
enum flipval flip;
for (id=0; (cmd = cacmdstr[id]) != NULL; id++) {
if (strcmp(cmd,cacmdstr[id]) == 0) {
found=1;
break;
}
}
if (!found) {
return 0;
}
switch (id) {
case MULTI:
if (fVal != 0 && fVal != 1) {
return 0;
} else {
camdriv->state_machine.multi = fVal;
}
break;
case CLOCK:
if (fVal > 0) {
camdriv->camera.clockMHz = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case BIN:
if (fVal > 0) {
camdriv->camera.bin = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case SIZE:
if (fVal > 0) {
camdriv->camera.size = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case GAIN:
if (fVal > 0) {
camdriv->camera.gain = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case FLIP:
flip = fVal;
switch (flip) {
case NORMAL:
case INVINT:
case NORMFH:
case NORMFHV:
case INVFH:
case INVFV:
case INVFHV:
camdriv->camera.flip = flip;
break;
default:
return 0;
break;
}
break;
case XPOS:
if (fVal > 0) {
camdriv->camera.xpos = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case YPOS:
if (fVal > 0) {
camdriv->camera.ypos = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case TEMP:
if (fVal > 0) {
camdriv->camera.temp = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case THRESH:
if (fVal > 0) {
camdriv->camera.thresh = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case SHOPT:
if (fVal > 0) {
camdriv->camera.shopt = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
case SHCLT:
if (fVal > 0) {
camdriv->camera.shclt = fVal;
camdriv->camera.updatecfg = 1;
} else {
return 0;
}
break;
default:
return 0;
}
return 1;
}
static int CamGet(CounterDriver *cntrData, char *name, int iCter, float *fVal) {
CamObj *camdriv= (CamObj *)cntrData->pData;
int found=0;
char *cmd;
enum campar id;
for (id=0; (cmd = cacmdstr[id]) != NULL; id++) {
if (strcmp(cmd,cacmdstr[id]) == 0) {
found=1;
break;
}
}
if (!found) {
return 0;
}
switch (id) {
case MULTI:
*fVal = (float) camdriv->state_machine.multi;
break;
case CLOCK:
*fVal = camdriv->camera.clockMHz;
break;
case BIN:
*fVal = camdriv->camera.bin;
break;
case SIZE:
*fVal = camdriv->camera.size;
break;
case GAIN:
*fVal = camdriv->camera.gain;
break;
case FLIP:
*fVal = camdriv->camera.flip;
break;
case XPOS:
*fVal = camdriv->camera.xpos;
break;
case YPOS:
*fVal = camdriv->camera.ypos;
break;
case TEMP:
*fVal = camdriv->camera.temp;
break;
case THRESH:
*fVal = camdriv->camera.thresh;
break;
case SHOPT:
*fVal = camdriv->camera.shopt;
break;
case SHCLT:
*fVal = camdriv->camera.shclt;
break;
default:
return 0;
}
return 1;
}
static int CamSend(CounterDriver *cntrData, char *pText, char *pReply, int iReplyLen) {
int status;
CamObj *self = NULL;
self = cntrData->pData;
status = AsyncUnitTransact(self->asyncUnit, pText, strlen(pText), pReply, &iReplyLen);
return 1;
}
static int cb_shotcmd(pAsyncTxn txn) {
CamObj *self = (CamObj *) txn->cntx;
char *resp = txn->inp_buf, message[MSGLEN+1];
enum event_codes cd_sym;
if (strncmp(resp, "OK", 2) != 0) {
self->camError = EFAIL;
return 0;
}
return 1;
}
int camdriv_out(void *me, event_t Eo) {
int len;
char cmd[MSGLEN], logmsg[MSGLEN];
CamObj *self = (CamObj *)me;
if (Eo.ca) {
/* send command to camera */
switch (Eo.ca) {
case ECA_TK_SHOT:
len = strlen(event_signatures[ECA_TK_SHOT]);
strncpy(cmd, event_signatures[ECA_TK_SHOT], len);
break;
case ECA_MLTI_ON:
len = strlen(event_signatures[ECA_MLTI_ON]);
strncpy(cmd, event_signatures[ECA_MLTI_ON], len);
break;
default:
break;
}
AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_shotcmd, self, MSGLEN);
if (self->debug) {
snprintf(logmsg, MSGLEN, "DEBUG: camdriv_out: ev=%s, output=%s\n", event_names[Eo.ca], event_signatures[Eo.ca]);
SICSLogWrite(logmsg, eLog);
}
}
if (Eo.cm) {
snprintf(logmsg, MSGLEN, "ERROR: NOT IMPLEMENTED, camdriv_out: ev=%s, output=%s\n", event_names[Eo.cm], event_signatures[Eo.cm]);
SICSLogWrite(logmsg, eLogError);
}
if (Eo.cd) {
snprintf(logmsg, MSGLEN, "ERROR: NOT IMPLEMENTED, camdriv_out: ev=%s, output=%s\n", event_names[Eo.cd], event_signatures[Eo.cd]);
SICSLogWrite(logmsg, eLogError);
}
if (Eo.dr) {
/* send msg to SICS */
switch (Eo.dr) {
case EDR_IDLE:
self->status = HWIdle;
break;
case EDR_BUSY:
self->status = HWBusy;
break;
case EDR_FAULT:
self->status = HWFault;
break;
default:
break;
}
if (self->debug) {
snprintf(logmsg, MSGLEN, "DEBUG: camdriv_out: ev=%s, output=%s\n", event_names[Eo.dr], event_signatures[Eo.dr]);
SICSLogWrite(logmsg, eLog);
}
}
return 1;
}
static int cb_getstate(pAsyncTxn txn);
static int cb_state_timer(void *ctx, int mode) {
CamObj *self = (CamObj *) ctx;
char errmsg[32]="";
char cmd[MSGLEN];
int len, status;
len = strlen(event_signatures[ECA_GET_STATE]);
strncpy(cmd, event_signatures[ECA_GET_STATE], len);
status = AsyncUnitSendTxn(self->asyncUnit, cmd, len, cb_getstate, self, MSGLEN);
if (status==1) {
return 1;
} else {
snprintf(errmsg, 31, "ERROR:(%s) AsyncUnitTransact failed",__FILE__);
SICSLogWrite(errmsg, eLogError);
return 0;
}
}
/* Input from camera state feedback */
static int cb_getstate(pAsyncTxn txn) {
CamObj *self = (CamObj *) txn->cntx;
char *resp = txn->inp_buf, message[MSGLEN+1];
int len = txn->inp_idx, ret=1, time_rem, time_tot;
enum event_codes ca_sym, cm_sym;
if ( cam_parse_status(resp, &ca_sym, &time_rem, &time_tot) == -1) {
snprintf(message, MSGLEN, "ERROR:(%s:%d) cam_parse_status failed on '%s'",__FILE__,__LINE__,resp);
SICSLogWrite(message, eLogError);
ret = 0;
} else {
cm_sym = camera_model(ca_sym);
crank_state_machine(self, cm_sym);
}
if (self->state_timer) {
NetWatchRemoveTimer(self->state_timer);
self->state_timer=0;
}
NetWatchRegisterTimer(&self->state_timer, 500, cb_state_timer, self);
return ret;
}
pCounterDriver CreateCam(SConnection *pCon, char *name, char *asynq) {
char msg[ERRLEN], cmd[MSGLEN], reply[MSGLEN];
int len, reply_len;
state_t start_state = {.cl=SCL_RDY, .cm=SCM_IDLE, .dr=SDR_IDLE};
pCounterDriver pCntDriv = NULL;
CamObj *pNewCam = NULL;
pNewCam = (CamObj *) malloc(sizeof(CamObj));
memset(pNewCam, 0, sizeof(CamObj));
STset(&pNewCam->state_machine.Sc, start_state);
EVclr(&pNewCam->state_machine.Eo);
pNewCam->state_machine.output_fn = camdriv_out;
pNewCam->state_machine.multi = 0;
pNewCam->state_timer = 0;
pNewCam->status = HWIdle;
pNewCam->camError = ENONE;
pNewCam->debug = 1;
pNewCam->camera.updatecfg = 0;
if (!AsyncUnitCreate(asynq, &pNewCam->asyncUnit)) {
snprintf(msg, ERRLEN, "CAMERR:AsyncQueue %s has not been defined", asynq);
SCWrite(pCon, msg, eError);
return NULL;
}
pCntDriv = CreateCounterDriver(name, "anstocamera");
if (pCntDriv == NULL)
return NULL;
pCntDriv->GetStatus = CamGetStatus;
pCntDriv->Start = CamStart;
pCntDriv->Pause = CamPause;
pCntDriv->Continue = CamContinue;
pCntDriv->Halt = CamHalt;
pCntDriv->ReadValues = CamReadValues;
pCntDriv->GetError = CamGetError;
pCntDriv->TryAndFixIt = CamTryAndFixIt;
pCntDriv->Set = CamSet;
pCntDriv->Get = CamGet;
pCntDriv->Send = CamSend;
pCntDriv->iNoOfMonitors = 1;
pCntDriv->pData = pNewCam;
len = strlen(event_signatures[ECA_GET_STATE]);
strncpy(cmd, event_signatures[ECA_GET_STATE], len);
AsyncUnitSendTxn(pNewCam->asyncUnit, cmd, len, cb_getstate, pNewCam, MSGLEN);
return pCntDriv;
}
#if 0
int CameraAction(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]) {
CamObj *pCam = (CamObj *) pData;
}
int CamMakeCmd(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]) {
CamObj *pNew = NULL;
pNew = CreateCam(argv[1], argv[2]);
if (pNew == NULL)
return 0;
AddCommand(pSics, argv[1], CameraAction, NULL, pNew);
return 1;
}
#endif

4
site_ansto/hardsup/cameradriver.h Normal file
View File

@@ -0,0 +1,4 @@
#ifndef CAMERADRIVER_H
#define CAMERADRIVER_H
void CameraInitProtocol(SicsInterp *pSics);
#endif

3
site_ansto/hardsup/makefile
View File

@@ -32,7 +32,8 @@ HOBJ += sct_rfamp.o
HOBJ += sinqhttpprot.o
HOBJ += sct_protek608.o
HOBJ += sct_lfprot.o
HOBJ += camserv.o
HOBJ += camera.o
HOBJ += cameradriver.o
libhlib.a: $(HOBJ)
rm -f libhlib.a